jax[cuda12] on linux for GPU; EGL headless render; non-fatal video

requirements.txt

@@ -4,7 +4,8 @@ hydra-core
 omegaconf
 mujoco==3.5.0
 mujoco-mjx==3.5.0
-jax==0.9.1
+jax[cuda12]==0.9.1 ; sys_platform == "linux"
+jax==0.9.1 ; sys_platform != "linux"
 skrl[torch]==1.4.3
 clearml
 imageio

scripts/train.py

@@ -8,10 +8,12 @@ _PROJECT_ROOT = str(pathlib.Path(__file__).resolve().parent.parent)
 if _PROJECT_ROOT not in sys.path:
     sys.path.insert(0, _PROJECT_ROOT)
 
-# Headless rendering: use OSMesa on Linux servers (must be set before mujoco import).
+# Headless rendering on Linux servers (must be set before mujoco import).
-# Always default on Linux — Docker containers may have DISPLAY set without a real X server.
+# EGL renders on the GPU directly (right for NVIDIA nodes) and avoids the
+# brittle OSMesa/PyOpenGL stack. Forced (not setdefault) so a stale
+# `-e MUJOCO_GL=osmesa` baked into a remote task can't override it.
 if sys.platform == "linux":
-    os.environ.setdefault("MUJOCO_GL", "osmesa")
+    os.environ["MUJOCO_GL"] = "egl"
 
 import hydra
 import hydra.utils as hydra_utils
@@ -74,11 +76,11 @@ def _init_clearml(choices: dict[str, str], remote: bool = False) -> Task:
         "git.victormylle.be/victormylle/simple-rl-framework:latest",
         docker_setup_bash_script=(
             "apt-get update && apt-get install -y --no-install-recommends "
-            "libosmesa6-dev libgl1-mesa-glx libglfw3 && rm -rf /var/lib/apt/lists/* "
+            "libegl1 libgl1 libglfw3 libosmesa6 && rm -rf /var/lib/apt/lists/* "
-            "&& pip install 'jax[cuda12]==0.9.1' mujoco-mjx==3.5.0 PyOpenGL PyOpenGL-accelerate"
+            "&& pip install 'jax[cuda12]==0.9.1' mujoco-mjx==3.5.0"
         ),
         docker_arguments=[
-            "-e", "MUJOCO_GL=osmesa",
+            "-e", "MUJOCO_GL=egl",
         ],
     )
 

src/training/trainer.py

@@ -131,35 +131,40 @@ class VideoRecordingTrainer(SequentialTrainer):
         except ImportError:
             return
 
-        fps = self._get_fps()
+        # Rendering needs a GL backend (EGL/OSMesa); never let a headless GL
-        max_steps = getattr(self.env.env.config, "max_steps", 500)
+        # failure crash training — log it and skip the video.
-        frames: list[np.ndarray] = []
+        try:
+            fps = self._get_fps()
+            max_steps = getattr(self.env.env.config, "max_steps", 500)
+            frames: list[np.ndarray] = []
 
-        obs, _ = self.env.reset()
+            obs, _ = self.env.reset()
-        with torch.no_grad():
+            with torch.no_grad():
-            for _ in range(max_steps):
+                for _ in range(max_steps):
-                action = self.agents.act(obs, timestep=timestep, timesteps=self.timesteps)[0]
+                    action = self.agents.act(obs, timestep=timestep, timesteps=self.timesteps)[0]
-                obs, _, terminated, truncated, _ = self.env.step(action)
+                    obs, _, terminated, truncated, _ = self.env.step(action)
 
-                frame = self.env.render()
+                    frame = self.env.render()
-                if frame is not None:
+                    if frame is not None:
-                    frames.append(frame)
+                        frames.append(frame)
 
-                if (terminated | truncated).any().item():
+                    if (terminated | truncated).any().item():
-                    break
+                        break
 
-        if frames:
+            if frames:
-            path = str(self._video_dir / f"step_{timestep}.mp4")
+                path = str(self._video_dir / f"step_{timestep}.mp4")
-            iio.imwrite(path, frames, fps=fps)
+                iio.imwrite(path, frames, fps=fps)
 
-            logger = Logger.current_logger()
+                logger = Logger.current_logger()
-            if logger:
+                if logger:
-                logger.report_media(
+                    logger.report_media(
-                    "Training Video", f"step_{timestep}",
+                        "Training Video", f"step_{timestep}",
-                    local_path=path, iteration=timestep,
+                        local_path=path, iteration=timestep,
-                )
+                    )
 
-        self.env.reset()
+            self.env.reset()
+        except Exception as exc:
+            log.warning("video_recording_failed", timestep=timestep, error=str(exc))
 
 
 # ── Main trainer ─────────────────────────────────────────────────────